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Multimode Grasping Soft Gripper Achieved by Layer Jamming Structure and Tendon-Driven Mechanism.

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This study introduces a novel soft robotic gripper with multiple grasping modes, overcoming limitations of single-mode grippers for diverse tasks in manufacturing and logistics. Its design enables versatile and effective robotic manipulation.

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Materials Science

Background:

  • Robotic grasping is crucial for industrial manufacturing and logistics.
  • Existing single-mode grippers struggle with diverse objects and environments.
  • A need exists for adaptable robotic grippers capable of multiple grasping strategies.

Purpose of the Study:

  • To propose and validate a novel soft robotic gripper with multiple grasping modes.
  • To address the limitations of conventional grippers in handling object and environmental uncertainties.
  • To enhance robotic manipulation capabilities through adaptable grasping.

Main Methods:

  • Design of a soft gripper with four modular fingers featuring layer jamming and tendon-driven mechanisms.
  • Integration of a torsional spring for decoupling bending and rotation, and an octopus-mimicking vacuum sucker for suction.
  • Finite element simulation to verify bending deformation and variable stiffness; development of a finger control model and a multimode grasping control strategy.

Main Results:

  • Finite element simulations confirmed the effectiveness of the bending deformation and variable stiffness design.
  • A control model and strategy for multimode grasping were successfully developed.
  • Experimental evaluation demonstrated the gripper's superior performance and its ability to satisfy various grasping tasks through four anthropomorphic modes (wrap, pinch, hook, suck).

Conclusions:

  • The proposed soft gripper with multiple grasping modes offers a versatile solution for complex robotic manipulation tasks.
  • The integrated design features, including layer jamming, tendon drive, and suction, enable adaptable and effective grasping.
  • Experimental validation confirms the gripper's superior performance and its potential to significantly advance robotic applications in manufacturing and logistics.